Binding device and binding system

Abstract

To provide a binding device capable of suppressing enlargement of a mechanism for drawing out a wire from a reel.SOLUTION: The binding device 100 includes the reinforcing bar binding machine 1 configured to bind the plurality of reinforcing bars with the wire W, the first slack forming roller 21a provided on one side of the wire W between the reel 20 wound with the wire W accommodated in the reel accommodating part 200 and the reinforcing bar binding machine 1, the second slack forming roller 22a provided on the other side of the wire W, and the drive unit 25 configured to relatively move the first slack forming roller 21a and the second slack forming roller 22a in the direction of approaching and separating from each other along the direction intersecting with the wire W.SELECTED DRAWING: Figure 1B

Description

[Technical Field]

[0001] The present invention relates to a bundling device for bundling reinforcing bars with wire and a bundling system equipped with the bundling device. [Background technology]

[0002] Steel bars are used in concrete structures to increase their strength, and are tied together with wire to prevent the bars from shifting from their designated positions when the concrete is poured.

[0003] Conventionally, a binding machine called a rebar binding machine has been proposed, which has a wire feeding section that feeds wire to a binding section, winds the wire around two or more rebars, and twists the wire wound around the rebars to bind the two or more rebars with the wire.

[0004] A technique has been proposed in which such a reinforcing bar binding machine is applied to equipment that is installed and used (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2023-105958 Summary of the Invention [Problem to be solved by the invention]

[0006] When applying a rebar tying machine to equipment that is installed and used, it is possible to increase the amount of wire that can be stored by making the reel on which the wire is wound larger than the reels that can be loaded into previous rebar tying machines.

[0007] However, when using a reel that is larger than the size that can be loaded into a conventional rebar tying machine, the load required to feed the wire increases due to the larger reel, and there is a possibility that the wire cannot be sufficiently fed to the tying section using only the wire feed section provided on the rebar tying machine. For this reason, when using a reel that is larger than the size that can be loaded into a conventional rebar tying machine, it is necessary to create sufficient slack between the reel and the tying machine so that the amount of wire required for tying the rebar can be reliably pulled out or so that the wire can be fed to the tying section.

[0008] Therefore, Patent Document 1 discloses a binding device in which a reel storage section that stores a reel wound with wire is configured independent of the rebar binding machine, and which is equipped with a wire pull-out mechanism that pulls out the wire from the reel stored in the reel storage section by moving a roller or the like in a direction that intersects with the direction in which the wire extends, making it possible to pull out the amount of wire required to bind the rebar.

[0009] However, in a configuration in which a roller or the like is moved in a direction intersecting the wire extension direction to pull out the wire and create slack in the wire, if only one roller is moved to pull out the wire, the roller's movement distance to pull out the amount of wire required to bind the rebars becomes large. In order to increase the roller's movement distance, it is necessary to lengthen the guide member that guides the roller's movement, which increases the size of the wire pulling mechanism and the binding device.

[0010] The present invention has been made to solve such problems, and has an object to provide a binding device and a binding system that can prevent the mechanism for unwinding the wire from the reel from becoming too large. [Means for solving the problem]

[0011] In order to solve the above-mentioned problems, the present invention provides a binding device comprising: a binding machine that binds multiple reinforcing bars with wire; a reel storage section that stores a reel around which wire is wound; and a pull-out section that pulls out the wire from the reel stored in the reel storage section, the pull-out section comprising: multiple wire pull-out members provided on one side and the other side via a wire between the binding machine and the reel stored in the reel storage section; and a moving section that moves the multiple wire pull-out members in directions toward and away from the wire.

[0012] The present invention also provides a binding system comprising: a binding device having a reel storage section that stores a reel wound with wire; and a pull-out section that pulls out the wire from the reel stored in the reel storage section; and a moving body that moves the binding device, wherein the pull-out section has a plurality of wire pull-out members provided on one side and the other side of the wire between the reel stored in the reel storage section and the binding machine; and a moving section that moves the plurality of wire pull-out members in directions toward and away from the wire.

[0013] In the present invention, the plurality of wire pull-out members move toward and away from the wire, thereby pulling out the wire from the reel and forming a slack portion in the wire between the binding machine and the reel. [Effects of the Invention]

[0014] According to the present invention, the movement distance of each wire pull-out member for pulling out the amount of wire required for binding the reinforcing bars from the reel can be reduced, thereby making it possible to reduce the size of the binding device. [Brief explanation of the drawings]

[0015] [Figure 1A] 1 is a side view showing an example of a binding device according to an embodiment of the present invention. [Figure 1B] 1 is a side view showing an example of a binding device according to an embodiment of the present invention, with some components not shown. [Figure 1C] 1 is a perspective view showing an example of a binding device according to an embodiment of the present invention. [Figure 1D]FIG. 2 is a rear view showing an example of the binding device of the present embodiment. [Figure 2] FIG. 2 is a side view showing an internal configuration of an example of a reinforcing bar binding machine. [Figure 3] 1 is a perspective view showing an example of a binding system according to an embodiment of the present invention. [Figure 4A] 1 is a side view showing an example of the operation of the binding device of the present embodiment, with some components omitted from the illustration. FIG. [Figure 4B] 1 is a side view showing an example of the operation of the binding device of the present embodiment, with some components omitted from the illustration. FIG. [Figure 4C] 1 is a side view showing an example of the operation of the binding device of the present embodiment, with some components omitted from the illustration. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a binding device and a binding system according to the present invention will be described with reference to the drawings.

[0017] <Configuration example of binding device according to this embodiment> Fig. 1A is a side view showing an example of the binding device of this embodiment, Fig. 1B is a side view showing an example of the binding device of this embodiment with some components omitted, Fig. 1C is a perspective view showing an example of the binding device of this embodiment, and Fig. 1D is a rear view showing an example of the binding device of this embodiment.

[0018] The binding device 100 includes a reinforcing bar binding machine 1 that binds the intersections of reinforcing bars S arranged in a grid pattern with wire W, a slack forming unit 2 that pulls out the wire W from a reel 20 and forms slack in the wire W between the reinforcing bar binding machine 1 and the reel 20, and a reel storage unit 200 that stores the reel 20. Note that the slack forming unit 2 does not need to have the function of pulling out the wire W from the reel 20 as long as it can form slack.

[0019] 2 is a side view of the internal configuration of an example of a reinforcing bar binding machine. The reinforcing bar binding machine 1 is an example of a binding machine, and feeds a wire W in the forward direction indicated by an arrow F to wind it around a reinforcing bar S, and then feeds the wire W wound around the reinforcing bar S in the reverse direction indicated by an arrow R to wind it around the reinforcing bar S and cut it, and then twists the wire W to bind the reinforcing bar S with the wire W.

[0020] To achieve the above-mentioned functions, the rebar binding machine 1 is equipped with a wire feeding unit 3 that feeds the wire W and a wire guide 4 that guides the wire W. The rebar binding machine 1 also has a curl forming unit 5 that forms a path for winding the wire W fed by the wire feeding unit 3 around the rebar S, and a cutting unit 6 that cuts the wire W wound around the rebar S. The rebar binding machine 1 is further equipped with a binding unit 7 that twists the wire W wound around the rebar S, and a drive unit 8 that drives the binding unit 7.

[0021] The wire feeding unit 3 includes a pair of feed gears 30 that sandwich and feed the wire W. The rotation of a feed motor (not shown) is transmitted to the wire feeding unit 3, causing the feed gear 30 to rotate. As a result, the wire feeding unit 3 feeds the wire W sandwiched between the pair of feed gears 30 along the extension direction of the wire W. In a configuration in which multiple pieces of wire W, for example, two pieces of wire W, are fed to bind the reinforcing bars S, the two pieces of wire W are fed in a parallel state.

[0022] The wire feed unit 3 switches the rotation direction of the feed motor (not shown) between forward and reverse, thereby switching the rotation direction of the feed gear 30 and switching the feed direction of the wire W between forward and reverse, either feeding the wire W in the forward direction indicated by arrow F or feeding the wire W in the reverse direction indicated by arrow R.

[0023] The wire guides 4 are provided at predetermined positions upstream and downstream of the wire feeding unit 3 with respect to the feeding direction in which the wire W is fed in the forward direction. In a configuration in which two wires W are fed to bind reinforcing bars S, the wire guide 4 provided upstream of the wire feeding unit 3 regulates the radial orientation of the two wires W, aligns the two incoming wires W in parallel, and guides them between a pair of feed gears 30. The wire guide 4 provided downstream of the wire feeding unit 3 regulates the radial orientation of the two wires W, aligns the two incoming wires W in parallel, and guides them to the cutting unit 6 and the curl forming unit 5. Note that the wire guide upstream of the wire feeding unit 3 is not shown in FIG. 2.

[0024] The curl forming unit 5 includes a curl guide 50 that curls the wire W fed by the wire feeding unit 3, and an guiding guide 51 that guides the wire W curled by the curl guide 50 to the bundling unit 7. In the rebar bundling machine 1, the path of the wire W fed by the wire feeding unit 3 is regulated by the curl forming unit 5, so that the trajectory of the wire W becomes a loop Ru as shown by the two-dot chain line in Figure 2, and the wire W is wound around the rebar S.

[0025] The cutting unit 6 includes a fixed blade unit 60 and a movable blade unit 61 that cuts the wire W in cooperation with the fixed blade unit 60. The cutting unit 6 cuts the wire W by the rotational movement of the movable blade unit 61 with the fixed blade unit 60 as a fulcrum axis. In the cutting unit 6, the movement of the binding unit 7 is transmitted to the movable blade unit 61.

[0026] The bundling unit 7 includes a locking member 70 that locks the wire W, and a sleeve 71 that operates the locking member 70. The driving unit 8 includes a torsion motor 80 and a reducer 81 that reduces speed and amplifies torque.

[0027] When the binding unit 7 is driven by the drive unit 8, the sleeve 71 activates the locking member 70 to lock the wire W. After the cutting unit 6 cuts the wire W in conjunction with the operation of the sleeve 71, the binding unit 7 twists the wire W by rotating the locking member 70 and the sleeve 71 to bind the reinforcing bar S.

[0028] In the rebar tying machine 1, the tying unit 7 is provided on an imaginary straight line 10L that is along the axial direction of the torsion motor 80, as shown by the dashed line in Figure 2. In addition, when the imaginary straight line 10L of the rebar tying machine 1 is oriented in the vertical direction, a curl guide 50 and an induction guide 51 are provided at the lower end of the machine in a form that protrudes from the main body 10.

[0029] Furthermore, the reinforcing bar binding machine 1 is provided with a wire feeding unit 3 on one side along a direction intersecting with the imaginary straight line 10L, which is a direction intersecting with the axial direction of the torsion motor 80.

[0030] Furthermore, in the binding device 100, a slack forming unit 2 is provided on the side of the reinforcing bar binding machine 1 where the wire feeding unit 3 is provided, i.e., on one side of the reinforcing bar binding machine 1 along a direction that intersects with the imaginary line 10L, which in turn intersects with the axial direction of the torsion motor 80. The slack forming unit 2 forms slack in the wire W between the reinforcing bar binding machine 1 and the reel 20.

[0031] Furthermore, in the binding device 100, a reel storage section 200 is provided above the reinforcing bar binding machine 1 along the direction in which the imaginary line 10L, which is the direction along the axial direction of the torsion motor 80, extends.

[0032] The reel housing 200 rotatably and detachably houses a reel 20 around which a long wire W is wound so as to be able to be unwound. The wire W is a wire made of a metal wire that can be plastically deformed, a wire made of a metal wire coated with resin, or a twisted wire.

[0033] When the reinforcing bar binding machine 1 is configured to bind reinforcing bars S with one wire W, the reel storage unit 200 stores one reel 20 around which one wire W is wound, and the reel 20 is configured to pull out one wire W as it rotates. When the reinforcing bar binding machine 1 is configured to bind reinforcing bars S with multiple wires W, the reel storage unit 200 stores multiple reels 20 corresponding to the number of wires W, and each reel 20 is configured to pull out multiple wires W as it rotates. For example, when the reinforcing bar binding machine 1 is configured to bind reinforcing bars S with two wires W, the reel storage unit 200 stores two reels 20 around which one wire W is wound, and each reel 20 is configured to pull out two wires W as it rotates.

[0034] The reel accommodating section 200 may be provided with a braking section that allows rotation of the reel 20 in the direction in which the wire W is pulled out, but restricts rotation of the reel 20 in the opposite direction.

[0035] The slack forming unit 2 is an example of a drawing unit, and includes a first slack forming unit 21 and a second slack forming unit 22. The first slack forming unit 21 is an example of a slack forming mechanism, and includes a first slack forming roller 21a, a guide plate 21b, and guide members 21c and 21d.

[0036] The first slack forming roller 21a is an example of a wire pull-out member, and is provided on one radial side of the wire W, sandwiching the wire W extending between the reel 20 stored in the reel storage section 200 and the rebar binding machine 1. The first slack forming roller 21a is in the shape of a disk with a thickness greater than the diameter of the wire W, and a guide surface 21f with which the wire W comes into contact is formed on the outer periphery of the disk. The first slack forming roller 21a is supported between a pair of guide plates 21b so as to be rotatable about an axis 21g as a fulcrum.

[0037] Guide plates 21b are provided on both axial sides of first slack forming roller 21a, sandwiching first slack forming roller 21a. In a configuration in which reinforcing bars S are bound with two wires W, first slack forming rollers 21a are provided on both sides of one guide plate 21b, and guide plates 21b are provided on the outer sides of each first slack forming roller 21a.

[0038] Guide member 21c is provided opposite guide surface 21f of first slack forming roller 21a in the path of wire W entering first slack forming unit 21. Guide member 21c is provided between the pair of guide plates 21b in the form of, for example, a cylindrical member extending in a direction intersecting with guide plates 21b.

[0039] The guide member 21d is provided on the path of the wire W coming out of the first slack forming portion 21. The guide member 21d is, for example, a roller that is rotatable about a shaft 21h as a fulcrum and is provided between the pair of guide plates 21b.

[0040] The shafts 21h of the guide members 21c and 21d also function as spacers that define the gap between the pair of guide plates 21b.

[0041] Guide plate 21b is shaped to cover at least a portion of the side of first slack forming roller 21a and at least a portion of the side of guide members 21c and 21d, and to support first slack forming roller 21a and guide members 21c and 21d.

[0042] The second slack forming unit 22 is an example of a slack forming mechanism, and includes a second slack forming roller 22a, a guide plate 22b, and guide members 22c and 22d.

[0043] The second slack forming roller 22a is an example of a wire pull-out member, and is provided on the other radial side of the wire W, sandwiching the wire W extending between the reel 20 stored in the reel storage section 200 and the rebar binding machine 1. The second slack forming roller 22a is in the shape of a disk with a thickness greater than the diameter of the wire W, and a guide surface 22f with which the wire W comes into contact is formed on the outer periphery of the disk. The second slack forming roller 22a is supported between a pair of guide plates 22b so as to be rotatable about a shaft 22g as a fulcrum.

[0044] Guide plates 22b are provided on both axial sides of second slack forming roller 22a, sandwiching second slack forming roller 22a. In a configuration in which reinforcing bars S are bound with two wires W, second slack forming rollers 22a are provided on both sides of one guide plate 22b, and guide plates 22b are provided on the outer sides of each second slack forming roller 22a.

[0045] The guide member 22c is provided on the path of the wire W that enters the second slack forming portion 22 from the first slack forming portion 21. The guide member 22c is, for example, a roller that is rotatable about an axis 22h as a fulcrum and is provided between the pair of guide plates 22b.

[0046] Guide member 22d is provided opposite guide surface 22f of second slack forming roller 22a in the path of wire W exiting second slack forming section 22. Guide member 22d is provided between the pair of guide plates 22b in the form of, for example, a cylindrical member extending in a direction intersecting with guide plates 22b.

[0047] The shafts 22h of the guide members 22c and 22d also function as spacers that define the gap between the pair of guide plates 22b.

[0048] Guide plate 22b is shaped to cover at least a portion of the side of second slack forming roller 22a and at least a portion of the side of guide members 22c and 22d, and to support second slack forming roller 22a and guide members 22c and 22d.

[0049] The binding device 100 includes a first guide portion 21i that guides the movement of the first slack forming portion 21, a second guide portion 22i that guides the movement of the second slack forming portion 22, and a drive portion 25 that moves the first slack forming portion 21 and the second slack forming portion 22.

[0050] The first guide portion 21i, the second guide portion 22i and the drive portion 25 are examples of moving portions, which move the first slack forming portion 21 equipped with the first slack forming roller 21a and the second slack forming portion 22 equipped with the second slack forming roller 22a relative to the wire W in directions toward and away from each other along a direction intersecting the extension direction of the wire W.

[0051] The first guide portion 21i movably guides the first slack forming portion 21 in a direction along the feed path WL of the wire W entering the rebar binding machine 1, which is defined by the wire feed portion 3, the wire guide 4, etc. The second guide portion 22i movably guides the second slack forming portion 22 in a direction along the feed path WL of the wire W entering the rebar binding machine 1. The second guide portion 22i supports the second slack forming portion 22 so that the guide surface 22f of the second slack forming roller 22a is positioned on an extension of the feed path WL of the wire W entering the rebar binding machine 1, which is defined by the wire feed portion 3, the wire guide 4, etc.

[0052] Driving unit 25 includes a pair of pulleys 25a and 25b, a belt 25c wound around pulleys 25a and 25b, and a motor 25d that drives one of pulleys 25a. Driving unit 25 also includes a first connecting portion 25e that connects first slack forming portion 21 and belt 25c, and a second connecting portion 25f that connects second slack forming portion 22 and belt 25c.

[0053] Pulley 25a is provided on the side closer to the rebar binding machine 1 in the movement direction of first slack forming unit 21 and second slack forming unit 22. Pulley 25b is provided on the side farther from the rebar binding machine 1 in the movement direction of first slack forming unit 21 and second slack forming unit 22. Belt 25c extends in the movement direction of first slack forming unit 21 and second slack forming unit 22. First connecting portion 25e is connected to one side of belt 25c extending between the pair of pulleys 25a, 25b, and second connecting portion 25f is connected to the other side of belt 25c extending between the pair of pulleys 25a, 25b.

[0054] One side and the other side of belt 25c stretching between a pair of pulleys 25a, 25b move in the opposite direction as pulley 25a is rotated by motor 25d, whereby first slack forming portion 21 and second slack forming portion 22 move relatively toward or away from each other depending on the direction of rotation of motor 25d.

[0055] The first slack forming roller 21a comes into contact with the wire W from one side as the first slack forming portion 21 and the second slack forming portion 22 move relatively toward and away from each other along a direction intersecting the extension direction of the wire W. The second slack forming roller 22a comes into contact with the wire W from the other side as the first slack forming portion 21 and the second slack forming portion 22 move relatively toward and away from each other along a direction intersecting the extension direction of the wire W.

[0056] The binding device 100 includes a first guide portion 23 and a second guide portion 24. The first guide portion 23 is provided between the reel 20 and the first slack forming portion 21. The first guide portion 23 directs the path of the wire W, which passes between a pair of guide plates 23a and is pulled out from the reel 20, toward the first slack forming portion 21.

[0057] The second guide portion 24 is provided between the second slack forming portion 22 and the rebar binding machine 1. The second guide portion 24 allows the wire W to pass through when the wire feeding portion 3 feeds the wire W, and may be provided with a braking portion that restricts the passage of the wire W when the slack forming portion 2 forms slack in the wire W.

[0058] The wire W unwound from the reel 20 extends laterally across the axial direction of the torsion motor 80 relative to the rebar binding machine 1, and its path is changed by the first guide unit 23 toward the slack forming unit 2. The wire W passing through the slack forming unit 2 has its path changed by the second slack forming roller 22a toward the wire feed unit 3 of the rebar binding machine 1.

[0059] The binding device 100 includes a guide portion 26 that forms a path through which the wire W passes between the reel 20 and the first guide portion 23. In a configuration in which the reinforcing bars S are bound with two wires W, the first guide portion 23 and the guide portion 26 are provided corresponding to each reel 20. Furthermore, in order to accommodate the difference in the spacing between the two reels 20 and the spacing between the two first guide portions 23, the guide portion 26 guides the path through which the two wires W pass so that the spacing between the paths gradually narrows from each reel 20 toward the first guide portion 23.

[0060] In the binding device 100, the rebar binding machine 1 is attached to the binding machine support part 101, and the reel storage part 200 is attached to the storage part support part 102. In addition, the binding machine support part 101 is attached to the storage part support part 102. Furthermore, in the binding device 100, the slack forming part 2 is attached to the slack forming part support part 103. In addition, in the binding device 100, the storage part support part 102 and the slack forming part support part 103 are attached to the support part 104.

[0061] The binding device 100 has a support part 104 provided above the rebar binding machine 1 and the reel storage part 200 along the axial direction of the torsion motor 80, and an attachment part 105 to which the robot arm 300 is attached is provided on the support part 104.

[0062] The slack forming unit 2 has a first slack forming unit 21, a second slack forming unit 22, and a drive unit 25 provided on one side of the slack forming unit support unit 103.

[0063] As shown in FIG. 2, the rebar tying machine 1 has the binding unit 7 provided on an imaginary line 10L that is aligned with the axial direction of the torsion motor 80. Furthermore, as shown in FIG. 1A, the binding device 100 has the attachment unit 105 provided on the imaginary line 10L. As a result, the binding device 100 has the binding unit 7 and the attachment unit 105 provided on the same imaginary line 10L. Therefore, when the rebar tying machine 1 is oriented in the up-down direction with the curl forming unit 5 facing downward, the binding unit 7 is provided vertically below the attachment unit 105.

[0064] Furthermore, when the binding device 100 is viewed from the side, the reel storage section 200 stores the reel 20 so that the axis of rotation of the reel 20 is located on an imaginary line 10L that passes through the binding section 7 and the attachment section 105. When the binding device 100 is viewed from a direction perpendicular to the imaginary line 10L, the position of the axis of rotation of each reel deviates from the imaginary line 10L depending on the number of reels used. However, it is sufficient that the reels are arranged so that the center of the line connecting the axes of rotation of all the reels used is located on the imaginary line 10L; in other words, it is sufficient that the line connecting the axes of rotation of multiple reels used is located on the imaginary line 10L.

[0065] <Configuration example of the bundling system according to this embodiment> 3 is a perspective view showing an example of a binding system according to the present embodiment. The binding system 301 includes the binding device 100 described above, a robot arm 300, and a stand 311 on which the robot arm 300 is mounted.

[0066] In the description of the binding system 301, the X, Y, and Z directions refer to the directions shown in Fig. 3. The X, Y, and Z directions are perpendicular to each other, the XY plane is a substantially horizontal plane, and the Z direction is a direction substantially along the vertical.

[0067] The mount 311 includes four pillars 312 erected at the four corners in the X and Y directions, and a plurality of beams 313 spanning the upper ends of the pillars 312 in the X and Y directions.

[0068] In the bundling system 301, a workpiece B, which is made up of a plurality of reinforcing bars S arranged in a lattice pattern, is held by a workpiece holding unit 302. The workpiece holding unit 302 includes a holder 321 for holding the workpiece B.

[0069] The holder 321 is formed in the shape of a rectangular plate with four sides aligned along the X and Y directions. Support plates 321a are erected on the four sides of the holder 321 to support a plurality of reinforcing bars S that constitute the workpiece B. The support plates 321a have a plurality of U-shaped grooves 321b that open upward, and the reinforcing bars S are inserted into the U-shaped grooves 321b. The multiple reinforcing bars S are arranged in a lattice pattern along the X and Y directions with their ends inserted into the U-shaped grooves 321b of the support plates 321a.

[0070] The robot arm 300 is an example of a moving body, and is supported by a moving mechanism 346 to move the binding device 100 to a desired position.

[0071] The movement mechanism 346 includes a Y-direction slider 346a suspended on the beam 313 of the stand 311. The Y-direction slider 346a moves the robot arm 300 in the Y direction. Note that the movement mechanism 346 may include, for example, a mechanism for moving the robot arm 300 in the X direction. Furthermore, if the operating range of the robot arm 300 can cover the entire binding area E2 without relying on the movement mechanism 346, the movement mechanism 346 does not need to be provided.

[0072] The robot arm 300 is a ceiling-suspended articulated robot, and is installed facing downward on a Y-direction slider 346a suspended on a beam 313. Specifically, the robot arm 300 includes a base 341, a plurality of arms 342, an end effector 343, and a plurality of joints 344. Note that the robot arm 300 is not limited to an articulated robot.

[0073] The arms 342 are connected in series with each other at the base end portion of the base portion 341. The base portion 341 is supported by a Y-direction slider 346a of a movement mechanism 346 and is movable in the Y direction.

[0074] The plurality of joints 344 rotatably connect the base 341, the plurality of arms 342, and the end effector 343. Each joint 344 is provided with a motor (not shown) and is driven by the motor to rotate.

[0075] The end effector 343 is connected to the tips of the multiple arms 342. The binding device 100 is supported on the end effector 343 via the attachment portion 105.

[0076] The binding system 301 moves the binding device 100 to the position of the intersection P of the binding target by the robot arm 300, and performs the binding operation.

[0077] The bundling system 301 may be configured to include an overall photographing unit that photographs the entire work B all at once or for each of its divided areas, and an individual photographing unit that photographs the intersections P of the rebars S to be bound individually at a higher resolution than that of the overall photographing unit.The bundling system 301 may then obtain positional information of the intersections P of the rebars S for each bundling target from the image information obtained by the individual photographing unit, which information is more accurate than the positional information of each intersection P of the rebars S obtained by photographing the entire work B with the overall photographing unit, and move the binding device 100 with the robot arm 300.

[0078] <Example of operation of the binding device according to this embodiment> 4A, 4B, and 4C are side views showing an example of the operation of the binding device of this embodiment, with some components omitted.

[0079] In the binding device 100, depending on the direction of rotation of the motor 25d, the first slack forming unit 21 and the second slack forming unit 22 move relatively away from each other from the standby position shown in Figures 1A, 1B, etc. to the slack forming position shown in Figure 4A, and also move relatively closer to each other from the slack forming position shown in Figure 4A to the standby position shown in Figure 4B.

[0080] In the binding device 100, when the first slack forming unit 21 moves from the standby position to the slack forming position, the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1. When the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1, the guide surface 21f of the first slack forming roller 21a comes into contact with the wire W from one side of the wire W extending between the reel 20 and the rebar binding machine 1, and pulls the portion of the wire W in contact with the guide surface 21f in a direction approaching the rebar binding machine 1.

[0081] In the binding device 100, when the second slack forming unit 22 moves from the standby position to the slack forming position, the second slack forming roller 22a moves in a direction away from the rebar binding machine 1. When the second slack forming roller 22a moves in a direction away from the rebar binding machine 1, the guide surface 22f of the second slack forming roller 22a comes into contact with the wire W from the other side of the wire W extending between the reel 20 and the rebar binding machine 1, and pulls the portion of the wire W in contact with the guide surface 22f in a direction away from the rebar binding machine 1.

[0082] The wire W entering the rebar binding machine 1 is clamped between a pair of feed gears 30. The pair of feed gears 30 are prevented from rotating due to an external force while the drive of a feed motor (not shown) is stopped. As a result, even if the second slack forming roller 22a moves in a direction away from the rebar binding machine 1 and a force is applied to the portion of the wire W in contact with the guide surface 22f in a direction away from the rebar binding machine 1, the wire W is prevented from being pulled out from between the pair of feed gears 30.

[0083] The path of the wire W pulled out from the reel 20 is changed by the first guide portion 23 between the reel 20 and the first slack forming roller 21a toward the slack forming portion 2. As a result, the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1, and the portion of the wire W in contact with the guide surface 21f is pulled in a direction approaching the rebar binding machine 1, thereby applying a force to pull the wire W out from the reel 20.

[0084] In addition, when the second slack forming roller 22a moves in a direction away from the rebar binding machine 1, the portion of the wire W in contact with the guide surface 22f is pulled in a direction away from the rebar binding machine 1, and a force is applied via the first slack forming roller 21a to pull the wire W out from the reel 20.

[0085] The reel 20 can rotate when a force is applied to pull out the wire W. As a result, the wire W is pulled out from the reel 20 when the first slack forming roller 21a moves in a direction toward the rebar binding machine 1 and the second slack forming roller 22a moves in a direction away from the rebar binding machine 1.

[0086] In the binding device 100, when the first slack forming unit 21 moves from the slack forming position to the standby position, the first slack forming roller 21a moves in a direction away from the rebar binding machine 1. When the first slack forming roller 21a moves in a direction away from the rebar binding machine 1, the guide surface 21f moves away from the wire W. Furthermore, in the binding device 100, when the second slack forming unit 22 moves from the slack forming position to the standby position, the second slack forming roller 22a moves in a direction approaching the rebar binding machine 1. When the second slack forming roller 22a moves in a direction approaching the rebar binding machine 1, the guide surface 22f moves away from the wire W. As a result, a slack portion WB is formed in the wire W between the reel 20 and the rebar binding machine 1.

[0087] The second slack forming unit 22 is supported by the second guide unit 22i so that the guide surface 22f is located on an extension of the feed path WL of the wire W entering the rebar binding machine 1, which is defined by the wire feed unit 3, the wire guide 4, etc. The second slack forming unit 22 is also guided by the second guide unit 22i so that it can move in a direction along the feed path WL of the wire W entering the rebar binding machine 1. This prevents the wire W entering the rebar binding machine 1 from changing significantly with respect to the feed path WL when the second slack forming unit 22 moves from the standby position to the slack forming position, and from the slack forming position to the standby position.

[0088] When the first slack forming unit 21 moves from the slack forming position to the standby position, the guide member 21c guides the wire W between the pair of guide plates 21b. As a result, the pair of guide plates 21b prevent the wire W entering the first slack forming unit 21 from moving in the axial direction of the first slack forming roller 21a. This prevents the wire W entering the first slack forming unit 21 from becoming tangled in the first guide unit 23, etc. Furthermore, in a configuration in which two wires W are used to bind the rebar S, the two wires W are prevented from becoming tangled in the slack forming unit 2.

[0089] Furthermore, the wire W emerging from the first slack forming portion 21 is guided between the pair of guide plates 21b by the guide member 21d. As a result, the pair of guide plates 21b prevent the wire W emerging from the first slack forming portion 21 from moving in the axial direction of the first slack forming roller 21a. Furthermore, the guide member 21d prevents the wire W emerging from the first slack forming portion 21 from moving toward the second slack forming portion 22. Therefore, the wire W emerging from the first slack forming portion 21 is prevented from becoming tangled with the second slack forming portion 22, etc. Furthermore, in a configuration in which the reinforcing bars S are bound with two wires W, the two wires W are prevented from becoming tangled in the slack forming portion 2.

[0090] Furthermore, the wire W entering the second slack forming unit 22 is guided between the pair of guide plates 22b by the guide member 22c. As a result, the pair of guide plates 22b prevent the wire W entering the second slack forming unit 22 from moving in the axial direction of the second slack forming roller 22a. Also, the guide member 22c prevents the wire W entering the second slack forming unit 22 from moving toward the first slack forming unit 21. Therefore, the wire W entering the second slack forming unit 22 is prevented from becoming entangled with the first slack forming unit 21, etc. Furthermore, in a configuration in which two wires W are used to bind the reinforcing bars S, the two wires W are prevented from becoming entangled in the slack forming unit 2.

[0091] Furthermore, the wire W coming out of the second slack forming unit 22 is guided between the pair of guide plates 22b by the guide member 22d. As a result, the pair of guide plates 22b prevent the wire W coming out of the second slack forming unit 22 from moving in the axial direction of the second slack forming roller 22a. Therefore, in a configuration in which the reinforcing bars S are bound with two wires W, entanglement of the two wires W in the slack forming unit 2 is prevented.

[0092] As shown in Fig. 4B, when slack WB is formed in the wire W by the slack forming unit 2, the rebar tying machine 1 feeds the wire W in the positive direction indicated by the arrow F by the wire feeding unit 3 shown in Fig. 2, and winds the wire W around the rebar S by the curl forming unit 5. When the wire feeding unit 3 feeds the wire W in the positive direction indicated by the arrow F, the slack portion WB of the wire W is fed as shown in Fig. 4C. As a result, the force used by the wire feeding unit 3 to feed the wire W in the positive direction indicated by the arrow F does not need to rotate the reel 20, reducing the load on the wire feeding unit 3 and suppressing the occurrence of poor wire feeding by the wire feeding unit 3.

[0093] In order to wind the wire W wound around the reinforcing bar S onto the reinforcing bar S, when the wire feeding unit 3 feeds the wire W in the reverse direction indicated by the arrow R, slack is formed in the wire W according to the amount of wire W fed in the reverse direction. This eliminates the need to rotate the reel 20 with the force of the wire feeding unit 3 feeding the wire W in the reverse direction indicated by the arrow R, reducing the load on the wire feeding unit 3 and suppressing the occurrence of poor wire feeding by the wire feeding unit 3.

[0094] In addition, in the binding device 100, the slack forming unit 2 forms a slack region WB corresponding to the amount of wire W required in the operation of binding the reinforcing bar S with the reinforcing bar binding machine 1, and then the operation of binding the reinforcing bar S is performed with the reinforcing bar binding machine 1. In addition, the slack forming unit 2 may be operated while the operation of binding the reinforcing bar S with the reinforcing bar binding machine 1 is being performed, and the slack forming unit 2 may form a slack region WB corresponding to the amount of wire W required in the operation of binding the next reinforcing bar S.

[0095] In a configuration in which the wire W is unwound from the reel 20 by moving a roller or the like in a direction intersecting the extending direction of the wire W, if only one roller is moved to unwound the wire W, the roller must move a large distance to unwound the amount of wire W required to bind the reinforcing bars S. In order to increase the roller movement distance, it is necessary to lengthen the guide members that guide the roller movement, which results in a larger binding device.

[0096] In contrast, by configuring first slack forming roller 21a and second slack forming roller 22a to move relatively toward and away from each other, it is possible to reduce the amount of movement of each roller to pull out the amount of wire W necessary to bind the rebars S. This allows the lengths of first guide portion 21i that guides the movement of first slack forming roller 21a and first guide portion 21i that guides the movement of first slack forming roller 21a to be shortened, making it possible to make binding device 100 more compact.

[0097] In addition, in a configuration in which the wire W is pulled out from the reel 20 by moving a roller or the like in a direction intersecting the direction in which the wire W extends, a force pulling the wire W out from the reel 20 is applied to the wire W, and a force trying to pull the wire W out from the rebar binding machine 1 is applied to the wire W.

[0098] In contrast, by configuring the first slack forming roller 21a and the second slack forming roller 22a to move relatively toward and away from each other, it becomes possible to control the magnitude of the force that attempts to pull the wire W mainly from the reel 20 when the first slack forming roller 21a moves, and the force that attempts to pull the wire W mainly from the rebar binding machine 1 when the second slack forming roller 22a moves.

[0099] Therefore, when the wire W is fed in the positive direction indicated by the arrow F, with the reel 20 side of the wire path being upstream and the rebar binding machine 1 side being downstream, the load applied to the first slack forming roller 21a, which is provided upstream in the feed direction of the wire W, as it attempts to pull out the wire W from the rebar binding machine 1 is relatively greater than the load applied to the first slack forming roller 21a, which is provided upstream in the feed direction of the wire W, as it attempts to pull out the wire W from the rebar binding machine 1.

[0100] Alternatively, the force with which the first slack forming roller 21a tries to pull out the wire W from the reel 20 is made relatively greater than the force with which the second slack forming roller 22a tries to pull out the wire W from the rebar binding machine 1.

[0101] For example, diameter r1 of first slack forming roller 21a is made larger than diameter r2 of second slack forming roller 22a. This makes the contact area between first slack forming roller 21a and wire W larger than the contact area between second slack forming roller 22a and wire W, and the force with which first slack forming roller 21a pulls wire W from reel 20 larger than the force with which second slack forming roller 22a pulls wire W from rebar binding machine 1.

[0102] Therefore, the wire W can be reliably pulled out from the reel 20, and the wire W is prevented from being pulled out from the reinforcing bar binding machine 1.

[0103] As a configuration for controlling the force with which the first slack forming roller 21a and the second slack forming roller 22a attempt to pull out the wire W and the load between the first slack forming roller 21a and the second slack forming roller 22a and the wire W, for example, the surface finish of the guide surface 21f of the first slack forming roller 21a that contacts the wire W and the guide surface 22f of the second slack forming roller 22a that contacts the wire W may be different, or the materials may be changed, so that the coefficients of friction between the guide surface 21f and the guide surface 22f may be different. By making the friction between the first slack forming roller 21a and the wire W greater than the friction between the second slack forming roller 22a and the wire W, the first slack forming roller 21a rotates in response to the pulling out of the wire W, and the wire W slides relative to the second slack forming roller 22a. This allows the wire W to be reliably pulled out from the reel 20, and also prevents the wire W from being pulled out from the reinforcing bar binding machine 1.

[0104] In addition, as a configuration for controlling the force with which the first slack forming roller 21a and the second slack forming roller 22a try to pull out the wire W, and the load between the first slack forming roller 21a and the second slack forming roller 22a and the wire W, for example, the rotational load may be different between the first slack forming roller 21a and the second slack forming roller 22a.

[0105] Furthermore, by configuring the device to control the force with which the first slack forming roller 21a and the second slack forming roller 22a try to pull out the wire W and the load between the first slack forming roller 21a and the second slack forming roller 22a and the wire W due to differences in the diameters of the two rollers, it is not necessary to provide a braking section (not shown) in the second guide section 24. [Explanation of symbols]

[0106] 100... bundling device, 101... bundling machine support portion, 102... storage portion support portion, 103... slack forming portion support portion, 104... support portion, 105... mounting portion, 1... reinforcing bar bundling machine (bundling machine), 2... slack forming portion, 20... reel, 200... reel storage portion, 21... first slack forming portion (slack forming mechanism portion), 21a... first slack forming roller (wire drawing member), 21b... guide plate, 21c, 21d... guide member, 21f... guide surface, 21g... shaft, 21h... shaft, 21i... first guide portion, 22... second slack forming portion (slack forming mechanism portion) forming mechanism part), 22a... second slack forming roller (wire drawing member), 22b... guide plate, 22c, 22d... guide member, 22f... guide surface, 22g... shaft, 22h... shaft, 22i... second guide part, 23... first guide part, 23a... guide plate, 24... second guide part, 25... drive part, 25a, 25b... pulley, 25c... belt, 25d... motor, 25e... first connecting part, 25f... second connecting part, 26... guide part, 300... robot arm (moving body), 301... bundling system

Claims

1. a bundling machine that ties multiple rebars together with wire; a reel housing portion for housing a reel around which a wire is wound; a draw-out section that draws out a wire from the reel accommodated in the reel accommodation section, The drawer portion is a plurality of wire pull-out members provided on one side and the other side of the wire between the reel accommodated in the reel accommodating section and the binding machine; a moving unit that moves the plurality of wire pull-out members in a direction toward and away from the wire. Binding device.

2. In a wire path in which the reel accommodated in the reel accommodating section is fed to the binding machine, when the reel side is upstream and the binding machine side is downstream, a load applied between the wire and the wire pull-out member provided downstream in the wire feed direction is made larger than a load applied between the wire and the wire pull-out member provided upstream in the wire feed direction. The binding device of claim 1 .

3. In a wire path in which the reel accommodated in the reel accommodating section is fed to the binding machine, the reel side is set to the upstream side and the binding machine side is set to the downstream side, and the force with which the wire pull-out member provided on the upstream side in the wire feeding direction pulls out the wire is made larger than the force with which the wire pull-out member provided on the downstream side in the wire feeding direction pulls out the wire. The binding device of claim 1 .

4. In a wire path from the reel accommodated in the reel accommodating section to the binding machine, the reel side is upstream and the binding machine side is downstream, and friction between the wire and the wire pull-out member provided on the upstream side in the wire feed direction is made larger than friction between the wire and the wire pull-out member provided on the downstream side in the wire feed direction. The binding device of claim 1 .

5. In a wire path in which the reel accommodated in the reel accommodating section is fed to the binding machine, the reel side is upstream and the binding machine side is downstream, and the contact area between the wire and the wire pull-out member provided on the upstream side in the wire feed direction is larger than the contact area between the wire and the wire pull-out member provided on the downstream side in the wire feed direction. The binding device of claim 1 .

6. The wire pull-out member includes a roller with which the wire comes into contact, In a wire path from the reel accommodated in the reel accommodating section to the binding machine, the reel side is upstream and the binding machine side is downstream, and the diameter of the roller of the wire pull-out member provided on the upstream side in the feeding direction is larger than the diameter of the roller of the wire pull-out member provided on the downstream side in the wire feeding direction. The binding device of claim 1 .

7. the wire pull-out member includes a roller that is rotatable in response to the wire; In a wire path in which the reel accommodated in the reel accommodating section is fed to the binding machine, the reel side is upstream and the binding machine side is downstream, and the rotation amount per unit feed amount of the roller of the wire pull-out member provided downstream in the wire feed direction is made larger than the rotation amount per unit feed amount of the roller of the wire pull-out member provided upstream in the wire feed direction. The binding device of claim 1 .

8. a bundling machine that ties multiple rebars together with wire; a reel housing portion for housing a reel around which a wire is wound; a wire binding device having a pull-out section that pulls out a wire from the reel accommodated in the reel accommodating section; a moving body that moves the binding device, The drawer portion is a plurality of wire pull-out members provided on one side and the other side of the wire between the reel accommodated in the reel accommodating section and the binding machine; a moving unit that moves the plurality of wire pull-out members in a direction toward and away from the wire. Binding system.

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